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ASDA-A3

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CANopen Mode

Object 60C2h: Interpolation time period

Index

Name

Object code

Data type

Access

PDO mapping

60C2h

Interpolation time period

RECORD

UNSIGNED8

RW

Yes

12

Sub-index

Description

Data type

Access

PDO mapping

Setting range

Default

0

Number of sub-index

UNSIGNED8

RO

No

2

2

Sub-index

Description

Data type

Access

PDO mapping

Setting range

Default

1

Interpolation time units

UNSIGNED8

RW

Yes

UNSIGNED8

1

Sub-index

Description

Data type

Access

PDO mapping

Setting range

Default

2

Interpolation time index

INTEGER8

RW

Yes

-128 to +63

-3

Object function:

This object only works in Interpolated Position mode. The interpolation time period is

calculated by OD 60C2h sub1 and OD 60C2h sub2. The calculation is as follows:

Interpolation time period = 60������2ℎ sub1 × 1060C2h sub2

Example:

If you want to set the interpolation time period to 2 ms, set OD 60C2h sub1 to 2 and

OD 60C2h sub2 to -3.

Interpolation time period = 2 × 10−3 = 0.002 ������ = 2 ������������

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